Automatic seedling picking paw mechanism and seedling picking method thereof

Abstract

The invention relates to an automatic seedling picking paw mechanism and a seedling picking method thereof. The automatic seedling picking paw mechanism is characterized by comprising a base, wherein a paw rotational mechanism and a clamping and driving mechanism are fixed on the base; a paw arm is fixedly arranged at the lower end of the paw rotational mechanism; the lower end of the paw arm is articulated with a clamping mechanism by a pin shaft; and the clamping movement and the rotational movement around the pin shaft of the clamping mechanism are driven by the clamping and driving mechanism. The clamping mechanism comprises a main clamping finger and an auxiliary clamping finger which are articulated by a dowel; a clamping torsional spring is sleeved on the dowel; a turning torsional spring is arranged at one side of the clamping finger; the turning and closing sequence of the clamping mechanism is realized by the difference of the coefficients of elasticity of the clamping torsional spring and the turning torsional spring; a steel wire rope is fixed on the auxiliary clamping finger; and the other end of the steel wire rope is fixed on the clamping and the driving mechanism. The automatic seedling picking paw mechanism can stretch into a seedling bottle smoothly, judges the position of seedlings and take out the seedlings under the condition that the seedlings are not damaged, and has the advantages of ingenious structure setting, power saving, reliable work and capability of being widely applied to the seedling picking operation under the condition that plenty of seedlings are cultivated in a culture bottle and the space among the seedlings is smaller.

Description

technical field [0001] The present invention relates to a claw mechanism and its grasping method, in particular to an automatic seedling-picking claw mechanism and its seedling-picking method, which is suitable for growing multiple seedlings in a culture bottle at the same time and the distance between the seedlings is small. . Background technique [0002] The division and transplantation operation in the process of subculture of tissue culture seedlings has extremely high environmental requirements and needs to be carried out on the ultra-clean inoculation table in the sterile inoculation room. Operators must be strictly sterilized before entering the inoculation room. Scrub your hands with alcohol several times, otherwise it will increase the probability of seedlings being contaminated by germs, causing serious losses, and the manual division and transplantation operation has low work efficiency, high labor intensity and high production cost. At present, some research in...

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Problems solved by technology

The inventor once developed a kind of manipulator (patent application number is 200810239240.1) that is suitable for the operation of transplanting tissue culture seedlings in the culture bottle, mainly for the situation that the distance between the seedlings in the culture bottle is relatively large, and for cultivating multiple plants at the same time in the culture bottle. The distance between seedlings and seedlings is small, and how to automatically identify and take out each seedling one by one without damaging the seedlings, there is no relevant research report so far

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